基于四元数的星载空间机械臂非奇异终端滑模控制
Quaternion-based non-singular terminal sliding mode control for a satellite-mounted space manipulator
AI总结：
本文针对星载空间机械臂，提出基于四元数的非奇异终端滑模控制器，并嵌入自适应项估计干扰上界，实现所有自由度的鲁棒控制，Lyapunov理论证明稳定且仿真验证了性能与燃料效率。
摘要：
本文提出了一种针对配备机械臂的卫星的鲁棒控制解决方案。首先，基于四元数推导了系统的动力学模型，以描述基础卫星姿态的演变。然后，提出了一种采用四元数进行姿态控制的非奇异终端滑模控制器，用于同时处理空间机械臂的所有自由度。此外，控制器中嵌入了一个额外的自适应项，以估计干扰和不确定性的上界。其结果是一种能够抵御未建模动力学和相互作用的弹性解决方案。利用Lyapunov理论证明了控制器的稳定性，并通过数值仿真评估了性能和燃料效率。
英文摘要：
In this paper, a robust control solution for a satellite equipped with a robotic manipulator is presented. First, the dynamic model of the system is derived based on quaternions to describe the evolution of the attitude of the base satellite. Then, a non-singular terminal sliding mode controller that employs quaternions for attitude control, is proposed for concurrently handling all the degrees of freedom of the space manipulator. Moreover, an additional adaptive term is embedded in the controller to estimate the upper bounds of disturbances and uncertainties. The result is a resilient solution able to withstand unmodelled dynamics and interactions. Lyapunov theory is used to prove the stability of the controller and numerical simulations allow assessing performance and fuel efficiency.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
